// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
//first find blue objects
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Core.inRange(hsvMat, blue.getHSVmin(), blue.getHSVmax(), thresholdMat);
morphOps(thresholdMat);
trackFilteredObject(blue, thresholdMat, hsvMat, rgbMat);
//then yellows
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Core.inRange(hsvMat, yellow.getHSVmin(), yellow.getHSVmax(), thresholdMat);
morphOps(thresholdMat);
trackFilteredObject(yellow, thresholdMat, hsvMat, rgbMat);
//then reds
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Core.inRange(hsvMat, red.getHSVmin(), red.getHSVmax(), thresholdMat);
morphOps(thresholdMat);
trackFilteredObject(red, thresholdMat, hsvMat, rgbMat);
//then greens
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Core.inRange(hsvMat, green.getHSVmin(), green.getHSVmax(), thresholdMat);
morphOps(thresholdMat);
trackFilteredObject(green, thresholdMat, hsvMat, rgbMat);
Imgproc.putText(rgbMat, "W:" + rgbMat.width() + " H:" + rgbMat.height() + " SO:" + Screen.orientation, new Point(5, rgbMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
using (Mat circles = new Mat()) {
Imgproc.HoughCircles(grayMat, circles, Imgproc.CV_HOUGH_GRADIENT, 2, 10, 160, 50, 10, 40);
Point pt = new Point();
for (int i = 0; i < circles.cols(); i++)
{
double[] data = circles.get(0, i);
pt.x = data [0];
pt.y = data [1];
double rho = data [2];
Imgproc.circle(rgbaMat, pt, (int)rho, new Scalar(255, 0, 0, 255), 5);
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (!isPlaying)
{
cube.transform.Rotate(new Vector3(90, 90, 0) * Time.deltaTime, Space.Self);
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
if (isPlaying)
{
//Loop play
if (capture.get(Videoio.CAP_PROP_POS_FRAMES) >= capture.get(Videoio.CAP_PROP_FRAME_COUNT))
{
capture.set(Videoio.CAP_PROP_POS_FRAMES, 0);
}
if (capture.grab())
{
capture.retrieve(previewRgbMat, 0);
Imgproc.rectangle(previewRgbMat, new Point(0, 0), new Point(previewRgbMat.cols(), previewRgbMat.rows()), new Scalar(0, 0, 255), 3);
Imgproc.cvtColor(previewRgbMat, previewRgbMat, Imgproc.COLOR_BGR2RGB);
Utils.fastMatToTexture2D(previewRgbMat, previrwTexture);
}
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
if (cascade != null)
{
cascade.detectMultiScale(grayMat, faces, 1.1, 2, 2, // TODO: objdetect.CV_HAAR_SCALE_IMAGE
new Size(grayMat.cols() * 0.2, grayMat.rows() * 0.2), new Size());
}
OpenCVForUnity.Rect[] rects = faces.toArray();
for (int i = 0; i < rects.Length; i++)
{
// Debug.Log ("detect faces " + rects [i]);
Imgproc.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
backgroundSubstractorMOG2.apply(rgbMat, fgmaskMat);
Core.bitwise_not(fgmaskMat, fgmaskMat);
rgbaMat.setTo(new Scalar(0, 0, 0, 0), fgmaskMat);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended && !EventSystem.current.IsPointerOverGameObject(t.fingerId))
{
storedTouchPoint = new Point(t.position.x, t.position.y);
//Debug.Log ("touch X " + t.position.x);
//Debug.Log ("touch Y " + t.position.y);
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0) && !EventSystem.current.IsPointerOverGameObject())
{
storedTouchPoint = new Point(Input.mousePosition.x, Input.mousePosition.y);
//Debug.Log ("mouse X " + Input.mousePosition.x);
//Debug.Log ("mouse Y " + Input.mousePosition.y);
}
#endif
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
if (storedTouchPoint != null)
{
onTouch(rgbaMat, convertScreenPoint(storedTouchPoint, gameObject, Camera.main));
storedTouchPoint = null;
}
handPoseEstimationProcess(rgbaMat);
Imgproc.putText(rgbaMat, "Please touch the area of the open hand.", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended)
{
onTouch(rgbaMat, convertScreenPoint(new Point(t.position.x, t.position.y), gameObject, Camera.main));
// Debug.Log ("touch X " + t.position.x);
// Debug.Log ("touch Y " + t.position.y);
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0))
{
onTouch(rgbaMat, convertScreenPoint(new Point(Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
}
#endif
handPoseEstimationProcess(rgbaMat);
Imgproc.putText(rgbaMat, "PLEASE TOUCH HAND POINTS", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Point[] points = roiPointList.ToArray();
if (roiPointList.Count == 4)
{
using (Mat backProj = new Mat()) {
Imgproc.calcBackProject(new List <Mat> (new Mat[] { hsvMat }), new MatOfInt(0), roiHistMat, backProj, new MatOfFloat(0, 180), 1.0);
RotatedRect r = Video.CamShift(backProj, roiRect, termination);
r.points(points);
}
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
if (Input.GetTouch(0).phase == TouchPhase.Ended)
{
roiPointList.Clear();
}
}
#else
if (Input.GetMouseButtonUp(0))
{
roiPointList.Clear();
}
#endif
}
if (roiPointList.Count < 4)
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended)
{
roiPointList.Add(convertScreenPoint(new Point(t.position.x, t.position.y), gameObject, Camera.main));
// Debug.Log ("touch X " + t.position.x);
// Debug.Log ("touch Y " + t.position.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList [roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0))
{
roiPointList.Add(convertScreenPoint(new Point(Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList [roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
#endif
if (roiPointList.Count == 4)
{
using (MatOfPoint roiPointMat = new MatOfPoint(roiPointList.ToArray())) {
roiRect = Imgproc.boundingRect(roiPointMat);
}
if (roiHistMat != null)
{
roiHistMat.Dispose();
roiHistMat = null;
}
roiHistMat = new Mat();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat()) {
Imgproc.calcHist(new List <Mat> (new Mat[] { roiHSVMat }), new MatOfInt(0), maskMat, roiHistMat, new MatOfInt(16), new MatOfFloat(0, 180));
Core.normalize(roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
// Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
}
if (points.Length < 4)
{
for (int i = 0; i < points.Length; i++)
{
Imgproc.circle(rgbaMat, points [i], 6, new Scalar(0, 0, 255, 255), 2);
}
}
else
{
for (int i = 0; i < 4; i++)
{
Imgproc.line(rgbaMat, points [i], points [(i + 1) % 4], new Scalar(255, 0, 0, 255), 2);
}
Imgproc.rectangle(rgbaMat, roiRect.tl(), roiRect.br(), new Scalar(0, 255, 0, 255), 2);
}
Imgproc.putText(rgbaMat, "PLEASE TOUCH 4 POINTS", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
if (mMOP2fptsPrev.rows() == 0)
{
// first time through the loop so we need prev and this mats
// plus prev points
// get this mat
Imgproc.cvtColor(rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
// copy that to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
// get prev corners
Imgproc.goodFeaturesToTrack(matOpFlowPrev, MOPcorners, iGFFTMax, 0.05, 20);
mMOP2fptsPrev.fromArray(MOPcorners.toArray());
// get safe copy of this corners
mMOP2fptsPrev.copyTo(mMOP2fptsSafe);
}
else
{
// we've been through before so
// this mat is valid. Copy it to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
// get this mat
Imgproc.cvtColor(rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
// get the corners for this mat
Imgproc.goodFeaturesToTrack(matOpFlowThis, MOPcorners, iGFFTMax, 0.05, 20);
mMOP2fptsThis.fromArray(MOPcorners.toArray());
// retrieve the corners from the prev mat
// (saves calculating them again)
mMOP2fptsSafe.copyTo(mMOP2fptsPrev);
// and save this corners for next time through
mMOP2fptsThis.copyTo(mMOP2fptsSafe);
}
/*
* Parameters:
* prevImg first 8-bit input image
* nextImg second input image
* prevPts vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
* nextPts output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
* status output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
* err output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't found then the error is not defined (use the status parameter to find such cases).
*/
Video.calcOpticalFlowPyrLK(matOpFlowPrev, matOpFlowThis, mMOP2fptsPrev, mMOP2fptsThis, mMOBStatus, mMOFerr);
if (!mMOBStatus.empty())
{
List <Point> cornersPrev = mMOP2fptsPrev.toList();
List <Point> cornersThis = mMOP2fptsThis.toList();
List <byte> byteStatus = mMOBStatus.toList();
int x = 0;
int y = byteStatus.Count - 1;
for (x = 0; x < y; x++)
{
if (byteStatus [x] == 1)
{
Point pt = cornersThis [x];
Point pt2 = cornersPrev [x];
Imgproc.circle(rgbaMat, pt, 5, colorRed, iLineThickness - 1);
Imgproc.line(rgbaMat, pt, pt2, colorRed, iLineThickness);
}
}
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
// detect markers and estimate pose
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected);
// Aruco.detectMarkers (imgMat, dictionary, corners, ids);
if (estimatePose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
}
// draw results
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(255, 0, 0));
if (estimatePose)
{
for (int i = 0; i < ids.total(); i++)
{
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
//This sample can display ARObject on only first detected marker.
if (i == 0)
{
Calib3d.Rodrigues(rvecs, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvecs.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvecs.get(0, 0) [1]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvecs.get(0, 0) [2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
// Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
// Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
}
}
if (showRejected && rejected.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejected, new Mat(), new Scalar(0, 0, 255));
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
// Utils.webCamTextureToMat (webCamTexture, grayMat, colors);
bgMat.copyTo(dstMat);
Imgproc.GaussianBlur(grayMat, lineMat, new Size(3, 3), 0);
grayMat.get(0, 0, grayPixels);
for (int i = 0; i < grayPixels.Length; i++)
{
maskPixels [i] = 0;
if (grayPixels [i] < 70)
{
grayPixels [i] = 0;
maskPixels [i] = 1;
}
else if (70 <= grayPixels [i] && grayPixels [i] < 120)
{
grayPixels [i] = 100;
}
else
{
grayPixels [i] = 255;
maskPixels [i] = 1;
}
}
grayMat.put(0, 0, grayPixels);
maskMat.put(0, 0, maskPixels);
grayMat.copyTo(dstMat, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMat, maskMat);
// Imgproc.putText (dstMat, "W:" + dstMat.width () + " H:" + dstMat.height () + " SO:" + Screen.orientation, new Point (5, dstMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (0), 2, Imgproc.LINE_AA, false);
// Imgproc.cvtColor(dstMat,rgbaMat,Imgproc.COLOR_GRAY2RGBA);
// Utils.matToTexture2D (rgbaMat, texture);
Utils.matToTexture2D(dstMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
